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<div class="title">C:/Users/Luca/Documents/Workspaces/Workspace/BallBalancing_Win32/src/control/compute.hpp</div>  </div>
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<a href="compute_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001  <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * BallBalancing - Copyright (C) 2013 Luca D&#39;Onofrio.</span>
<a name="l00003"></a>00003 <span class="comment"> *</span>
<a name="l00004"></a>00004 <span class="comment"> * This file is part of BallBalancing Project</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * BallBalancing is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 3 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * BallBalancing is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * This firmware is based on OpenCV 2.4.5, see &lt;http://www.opencv.org&gt;.</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021 
<a name="l00030"></a>00030 <span class="preprocessor">#ifndef COMPUTE_HPP_</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define COMPUTE_HPP_</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="comment">/*===========================================================================*/</span>
<a name="l00034"></a>00034 <span class="comment">/* Include files.                                                            */</span>
<a name="l00035"></a>00035 <span class="comment">/*===========================================================================*/</span>
<a name="l00036"></a>00036 <span class="preprocessor">#include &lt;cv.h&gt;</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include &lt;highgui.h&gt;</span>
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;<a class="code" href="serial_8hpp.html" title="Serial driver class.">Serial.hpp</a>&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;<a class="code" href="_p_i_d_8hpp.html" title="PID Controller data structure and functions.">PID.hpp</a>&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;<a class="code" href="kalman_8hpp.html" title="Simple Kalman filter.">kalman.hpp</a>&quot;</span>
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 <span class="comment">/*===========================================================================*/</span>
<a name="l00044"></a>00044 <span class="comment">/* Defines and Macros                                                        */</span>
<a name="l00045"></a>00045 <span class="comment">/*===========================================================================*/</span>
<a name="l00046"></a>00046 
<a name="l00050"></a><a class="code" href="group___control.html#gaf3c82099d63a2d91d68bd62d954059c7">00050</a> <span class="preprocessor">#define MAX_ANGLE       90.0f</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span>
<a name="l00052"></a>00052 <span class="comment">/*===========================================================================*/</span>
<a name="l00053"></a>00053 <span class="comment">/* Types definitions.                                                        */</span>
<a name="l00054"></a>00054 <span class="comment">/*===========================================================================*/</span>
<a name="l00055"></a>00055 
<a name="l00056"></a>00056 <span class="comment">/*</span>
<a name="l00057"></a>00057 <span class="comment"> * @brief    Main control class.</span>
<a name="l00058"></a>00058 <span class="comment"> */</span>
<a name="l00059"></a><a class="code" href="class_compute.html">00059</a> <span class="keyword">class </span><a class="code" href="class_compute.html">Compute</a> {
<a name="l00060"></a>00060 <span class="keyword">private</span>:
<a name="l00061"></a><a class="code" href="class_compute.html#a02745647b5601692ac3ec9bcf595637a">00061</a>         <a class="code" href="class_serial.html">Serial</a> *<a class="code" href="class_compute.html#a02745647b5601692ac3ec9bcf595637a" title="The serial driver instance.">serial</a>;                 
<a name="l00062"></a><a class="code" href="class_compute.html#af65423b80c39fdf34188349218557de9">00062</a>         <a class="code" href="class_p_i_d.html">PID</a> *<a class="code" href="class_compute.html#af65423b80c39fdf34188349218557de9" title="PID for X coordinate.">pidX</a>;                              
<a name="l00063"></a><a class="code" href="class_compute.html#a4b5b07c13ce32db61263e2f50b98fa26">00063</a>         <a class="code" href="class_p_i_d.html">PID</a> *<a class="code" href="class_compute.html#a4b5b07c13ce32db61263e2f50b98fa26" title="PID for Y coordinate.">pidY</a>;                              
<a name="l00064"></a><a class="code" href="class_compute.html#a9d8e6f018efceb624332a8ed22b2d896">00064</a>         <a class="code" href="class_kalman.html">Kalman</a> *<a class="code" href="class_compute.html#a9d8e6f018efceb624332a8ed22b2d896" title="Kalman filter for X coordinate.">kalmanX</a>;                
<a name="l00065"></a><a class="code" href="class_compute.html#aaf52b9db239d1a995d4c049ea33557f0">00065</a>         <a class="code" href="class_kalman.html">Kalman</a> *<a class="code" href="class_compute.html#aaf52b9db239d1a995d4c049ea33557f0" title="Kalman filter for X coordinate.">kalmanY</a>;                
<a name="l00066"></a>00066 
<a name="l00067"></a><a class="code" href="class_compute.html#a77daaacdce6ae91ec1747a3ac7a89e39">00067</a>         <span class="keywordtype">int</span> <a class="code" href="class_compute.html#a77daaacdce6ae91ec1747a3ac7a89e39" title="Camera frame width.">width</a>;                              
<a name="l00068"></a><a class="code" href="class_compute.html#a0495bed470f6c5730e8f50d5dc22272d">00068</a>         <span class="keywordtype">int</span> <a class="code" href="class_compute.html#a0495bed470f6c5730e8f50d5dc22272d" title="Camera frame height.">height</a>;                             
<a name="l00069"></a><a class="code" href="class_compute.html#a91eddcbc9fc44cccfef148a668e4da5a">00069</a>         <span class="keywordtype">int</span> <a class="code" href="class_compute.html#a91eddcbc9fc44cccfef148a668e4da5a" title="X coordinate of the set point.">setPoint_x</a>;                 
<a name="l00070"></a><a class="code" href="class_compute.html#ab87fb2b6af3b765f819f85fcaa19da32">00070</a>         <span class="keywordtype">int</span> <a class="code" href="class_compute.html#ab87fb2b6af3b765f819f85fcaa19da32" title="Y coordinate of the set point.">setPoint_y</a>;                 
<a name="l00071"></a>00071 
<a name="l00072"></a><a class="code" href="class_compute.html#a2542b78d6ec19f697e393f583443e924">00072</a>         <span class="keywordtype">char</span> *<a class="code" href="class_compute.html#a2542b78d6ec19f697e393f583443e924" title="The window used to draw the graph.">window</a>;                   
<a name="l00073"></a><a class="code" href="class_compute.html#a530b8cca9b6eb572c8428760a66fccd5">00073</a>         IplImage* <a class="code" href="class_compute.html#a530b8cca9b6eb572c8428760a66fccd5" title="The image used for plotting data.">image</a>;                
<a name="l00074"></a><a class="code" href="class_compute.html#a964c729355e2057c689c3f7dd2e73b43">00074</a>         <span class="keywordtype">int</span> <a class="code" href="class_compute.html#a964c729355e2057c689c3f7dd2e73b43" title="Plot x value.">sample</a>;                             
<a name="l00075"></a>00075 
<a name="l00076"></a>00076         <span class="keywordtype">void</span> <a class="code" href="group___control.html#gab35c5e0efd0fc15725300a44ec49ab3b" title="Draw a XY plot.">Plot</a>(<span class="keywordtype">float</span> x_est, <span class="keywordtype">float</span> y_est);
<a name="l00077"></a>00077 
<a name="l00078"></a>00078 <span class="keyword">public</span>:
<a name="l00079"></a>00079         <a class="code" href="group___control.html#ga06063e8787ec8883de4ea5b5cc347b9b" title="The constructor.">Compute</a>(<span class="keywordtype">int</span> <a class="code" href="class_compute.html#a77daaacdce6ae91ec1747a3ac7a89e39" title="Camera frame width.">width</a>, <span class="keywordtype">int</span> <a class="code" href="class_compute.html#a0495bed470f6c5730e8f50d5dc22272d" title="Camera frame height.">height</a>);
<a name="l00080"></a>00080         <a class="code" href="group___control.html#ga0b870ef17154c6d4395e38a706b0421f" title="The destructor.">~Compute</a>();
<a name="l00081"></a>00081 
<a name="l00082"></a>00082         <a class="code" href="class_p_i_d.html">PID</a> *<a class="code" href="group___control.html#gad916f913222c92830ecb4a192b67c6d4" title="Return PID x axis.">getPIDX</a>();
<a name="l00083"></a>00083         <a class="code" href="class_p_i_d.html">PID</a> *<a class="code" href="group___control.html#ga23898dbfd5e46b3dbe38d245bd417b9d" title="Return PID y axis.">getPIDY</a>();
<a name="l00084"></a>00084         <span class="keywordtype">void</span> <a class="code" href="group___control.html#ga426882753acbede055673691abe6b597" title="Update the x,y coordinates of the set point.">setPoint</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);
<a name="l00085"></a>00085         <span class="keywordtype">void</span> <a class="code" href="group___control.html#gaab1c21a03462410a52b24047c66961fe" title="Reset the set point to the center.">center</a>();
<a name="l00086"></a>00086 
<a name="l00087"></a>00087         <span class="keywordtype">bool</span> <a class="code" href="group___control.html#gae689eda9201b54d1ca06a04a693b0e73" title="Check serial connection.">IsConnected</a>();
<a name="l00088"></a>00088         <span class="keywordtype">void</span> <a class="code" href="group___control.html#ga654ce447d37ead187bf4294108f14dff" title="Main control function.">Update</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);
<a name="l00089"></a>00089         <span class="keywordtype">void</span> <a class="code" href="group___control.html#gadda796b81679fb1274b031977ed4aa85" title="Set OpenCV output window and image.">SetPlotter</a>(<span class="keywordtype">char</span> *, IplImage*);
<a name="l00090"></a>00090 
<a name="l00091"></a>00091 };
<a name="l00092"></a>00092 
<a name="l00093"></a>00093 <span class="preprocessor">#endif </span><span class="comment">/* COMPUTE_HPP_ */</span>
<a name="l00094"></a>00094 
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